{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "b4b9d51e",
   "metadata": {},
   "source": [
    "# tf respone plot\n",
    "\n",
    "U(s) -> Gc(s) -> G(s) -> X(s)\n",
    "\n",
    "开环系统传递函数 Ls = Gc(s) * G(s)\n",
    "Gc(s)是PID传递函数：\n",
    "Gc(s) = Kp + Ki/s + Kd*s\n",
    "G(s)是系统响应函数：\n",
    "G(s) = 1/(1+T1*s+T2*s^2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "807bc425",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "受控對象 (倒立擺) 的傳遞函數 Gp(s):\n",
      "<TransferFunction>: sys[216]\n",
      "Inputs (1): ['u[0]']\n",
      "Outputs (1): ['y[0]']\n",
      "\n",
      "     1\n",
      "  -------\n",
      "  s^2 - 1\n",
      "\n",
      "PID 控制器的傳遞函數 Gc(s):\n",
      "<TransferFunction>: sys[223]\n",
      "Inputs (1): ['u[0]']\n",
      "Outputs (1): ['y[0]']\n",
      "\n",
      "  3 s^2 + 5 s + 1\n",
      "  ---------------\n",
      "         s\n",
      "\n",
      "開環傳遞函數 Gol(s):\n",
      "<TransferFunction>: sys[224]\n",
      "Inputs (1): ['u[0]']\n",
      "Outputs (1): ['y[0]']\n",
      "\n",
      "  3 s^2 + 5 s + 1\n",
      "  ---------------\n",
      "      s^3 - s\n",
      "\n",
      "--- 頻域分析結果 ---\n",
      "增益裕度 (GM): 0.267 (線性值) / -11.481 dB\n",
      "相位裕度 (PM): 60.033 度\n",
      "相位穿越頻率 (Phase Crossover Freq): 3.002 rad/s\n",
      "增益穿越頻率 (Gain Crossover Freq): 0.577 rad/s\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "C:\\Users\\18745\\AppData\\Local\\Temp\\ipykernel_8788\\1966221218.py:58: FutureWarning: keyword 'margins' is deprecated; use 'display_margins'\n",
      "  ct.bode(open_loop_tf, margins=True, wrap_phase=True, dB=True)\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 1000x800 with 2 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 800x500 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "ename": "",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m在当前单元格或上一个单元格中执行代码时 Kernel 崩溃。\n",
      "\u001b[1;31m请查看单元格中的代码，以确定故障的可能原因。\n",
      "\u001b[1;31m单击<a href='https://aka.ms/vscodeJupyterKernelCrash'>此处</a>了解详细信息。\n",
      "\u001b[1;31m有关更多详细信息，请查看 Jupyter <a href='command:jupyter.viewOutput'>log</a>。"
     ]
    }
   ],
   "source": [
    "import control as ct\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "# --- 1. 定義系統模型 ---\n",
    "\n",
    "# 定義 s 為傳遞函數變數\n",
    "s = ct.tf('s')\n",
    "\n",
    "# 倒立擺的傳遞函數 Gp(s) = 1 / (s^2 - 1)\n",
    "plant_tf = 1 / (s**2 - 1)\n",
    "print(\"受控對象 (倒立擺) 的傳遞函數 Gp(s):\")\n",
    "print(plant_tf)\n",
    "\n",
    "# --- 2. 設計 PID 控制器 ---\n",
    "\n",
    "# PID 參數 (這些參數是經過調整以穩定系統的)\n",
    "# Kp (比例增益) 提供主要穩定力\n",
    "# Kd (微分增益) 提供阻尼和預測，對穩定至關重要\n",
    "# Ki (積分) 用於消除穩態誤差\n",
    "Kp = 5\n",
    "Ki = 1\n",
    "Kd = 3\n",
    "\n",
    "# PID 控制器的傳遞函數 Gc(s)\n",
    "controller_tf = Kp + Ki/s + Kd*s\n",
    "print(\"\\nPID 控制器的傳遞函數 Gc(s):\")\n",
    "print(controller_tf)\n",
    "\n",
    "# --- 3. 組成串聯開環系統 ---\n",
    "\n",
    "# 開環傳遞函數 Gol(s) = Gc(s) * Gp(s)\n",
    "# 頻域分析 (Bode, GM, PM) 都是針對開環系統進行的\n",
    "open_loop_tf = controller_tf * plant_tf\n",
    "print(\"\\n開環傳遞函數 Gol(s):\")\n",
    "print(open_loop_tf)\n",
    "\n",
    "# --- 4. 頻域響應分析與繪圖 ---\n",
    "\n",
    "print(\"\\n--- 頻域分析結果 ---\")\n",
    "\n",
    "# 計算增益裕度(GM), 相位裕度(PM), 以及對應的穿越頻率\n",
    "# wcg (Gain Crossover Frequency): 相位為 -180 度時的頻率\n",
    "# wcp (Phase Crossover Frequency): 幅值為 0 dB 時的頻率\n",
    "gm_val, pm_val, wcg_val, wcp_val = ct.margin(open_loop_tf)\n",
    "\n",
    "# 將增益裕度從線性值轉換為分貝(dB)\n",
    "gm_db = 20 * np.log10(gm_val)\n",
    "\n",
    "print(f\"增益裕度 (GM): {gm_val:.3f} (線性值) / {gm_db:.3f} dB\")\n",
    "print(f\"相位裕度 (PM): {pm_val:.3f} 度\")\n",
    "print(f\"相位穿越頻率 (Phase Crossover Freq): {wcp_val:.3f} rad/s\")\n",
    "print(f\"增益穿越頻率 (Gain Crossover Freq): {wcg_val:.3f} rad/s\")\n",
    "\n",
    "# 繪製波德圖 (Bode Plot)\n",
    "plt.style.use('seaborn-v0_8-whitegrid')\n",
    "plt.figure(figsize=(10, 8))\n",
    "ct.bode(open_loop_tf, margins=True, wrap_phase=True, dB=True)\n",
    "plt.suptitle('Open-Loop System Bode Plot with Stability Margins', fontsize=16)\n",
    "plt.tight_layout(rect=[0, 0, 1, 0.96])\n",
    "plt.show()\n",
    "\n",
    "# --- 5. (可選) 驗證閉環系統的穩定性 ---\n",
    "\n",
    "# 創建單位負反饋的閉環系統\n",
    "closed_loop_tf = ct.feedback(open_loop_tf, 1)\n",
    "\n",
    "# 繪製閉環系統的階躍響應 (Step Response)\n",
    "plt.figure(figsize=(8, 5))\n",
    "t, y = ct.step_response(closed_loop_tf)\n",
    "plt.plot(t, y)\n",
    "plt.title('Closed-Loop Step Response')\n",
    "plt.xlabel('Time (seconds)')\n",
    "plt.ylabel('Amplitude')\n",
    "plt.grid(True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e0a894ad",
   "metadata": {},
   "source": [
    "# 伯德图分析\n",
    "\n",
    "建立受控对象的模型（例如倒立摆）。\n",
    "\n",
    "设计控制器（例如 PID）。\n",
    "\n",
    "计算开环传递函数（控制器 x 受控对象）。\n",
    "\n",
    "绘制开环波德图，并利用增益裕度和相位裕度来调整控制器参数，以确保系统稳定且具有良好的动态响应。\n",
    "\n",
    "最后，绘制闭环系统的阶跃响应图来验证系统的性能，例如超调量、上升时间、稳定时间等。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "9902ba95",
   "metadata": {},
   "source": [
    "您的程式碼沒有錯誤，它準確地反映了所選模型和控制器參數下的系統動態。波德圖分析的結果，雖然看起來有點反直覺，但這是由於原始受控對象本身就是不穩定的。增益裕度為負這一點正確地表明了在特定頻率下系統存在不穩定趨勢，而閉環系統極點的實部全為負這一點則有力地證明了經過 PID 控制器補償後，系統最終是穩定的。\n",
    "\n",
    "您可以將此視為 PID 控制器成功地將一個本質上不穩定的開環系統變成一個穩定的閉環系統的一個絕佳例子。"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5994d443",
   "metadata": {},
   "source": [
    "# 极点配置\n",
    "\n",
    "极点是系统传递函数分母多项式的根。极点的位置直接决定了系统的动态响应和稳定性：\n",
    "\n",
    "如果所有极点都位于复平面的左半边（实部为负），则系统是稳定的。\n",
    "\n",
    "如果存在任何极点位于右半边（实部为正），则系统是不稳定的。\n",
    "\n",
    "极点距离虚轴的距离决定了衰减速度。\n",
    "\n",
    "极点在复平面上的位置（实部和虚部）决定了响应是振荡还是非振荡。\n",
    "\n",
    "极点配置图就是将这些极点（用 x 表示）和零点（用 o 表示）绘制在复平面上，提供一个直观的稳定性视图。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "id": "103b1505",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "--- 绘制闭环系统极点配置图 ---\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/catdog/miniconda3/envs/control/lib/python3.13/site-packages/control/pzmap.py:327: FutureWarning: pole_zero_plot() return value of poles, zeros is deprecated; use pole_zero_map()\n",
      "  warnings.warn(\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "--- 閉環系統驗證 ---\n",
      "閉環系統極點:\n",
      "[-9.71231621+0.j         -0.14384189+0.43038775j -0.14384189-0.43038775j]\n",
      "由於所有極點的實部均為負，閉環系統是穩定的。\n"
     ]
    }
   ],
   "source": [
    "# --- 6. 绘制闭环系统极点配置图 ---\n",
    "print(\"\\n--- 绘制闭环系统极点配置图 ---\")\n",
    "\n",
    "# 绘制极点-零点图\n",
    "# 'plot' 参数设为 True 会自动绘制图形\n",
    "ct.pzmap(closed_loop_tf, plot=True)\n",
    "plt.title('Closed-Loop Pole-Zero Map')\n",
    "plt.grid(True)\n",
    "plt.show()\n",
    "\n",
    "# 极点都是负实部，闭环系统稳定。\n",
    "# 檢查閉環系統的極點位置\n",
    "print(\"\\n--- 閉環系統驗證 ---\")\n",
    "print(\"閉環系統極點:\")\n",
    "print(closed_loop_tf.poles())\n",
    "print(\"由於所有極點的實部均為負，閉環系統是穩定的。\")"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "drl",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.18"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
